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106 mouseup:lbsD7e; mouseenter:tfO1Yc; mouseleave:JywGue; focus:AHmuwe; blur:O22p3e; contextmenu:mg9Pef;touchstart:p6p2H; touchmove:FwuNnf; touchend:yfqBxc(preventDefault=true); touchcancel:JMtRjd;" jsshadow jsname="R9oOZd" aria-label="Open search bar" aria-disabled="false" tabindex="0" data-tooltip="Open search bar" aria-expanded="false" data-tooltip-vertical-offset="-12" data-tooltip-horizontal-offset="0"><div class="VTBa7b MbhUzd" jsname="ksKsZd"></div><span jsslot class="xjKiLb"><span class="Ce1Y1c" style="top: -12px"><svg class="vu8Pwe tCHXDc YSH9J" viewBox="0 0 24 24" focusable="false"><path d="M15.5 14h-.79l-.28-.27C15.41 12.59 16 11.11 16 9.5 16 5.91 13.09 3 9.5 3S3 5.91 3 9.5 5.91 16 9.5 16c1.61 0 3.09-.59 4.23-1.57l.27.28v.79l5 4.99L20.49 19l-4.99-5zm-6 0C7.01 14 5 11.99 5 9.5S7.01 5 9.5 5 14 7.01 14 9.5 11.99 14 9.5 14z"/><path d="M0 0h24v24H0z" fill="none"/></svg></span></span></div></div></div><div jsname="mADGA" class="zDUgLc"></div></div><div class="TxnWlb" jsname="BDdyze" jsaction="click:LUvzV"></div></div></header><div jsname="ZBtY8b" tabindex="-1" class="UtePc RCETm SwuGbc" dir="ltr"><section id="h.1f38c534cf2e387a_44" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.1f38c534cf2e387a_47" class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd mGzaTb Depvyb baZpAe" role="main" tabindex="0"><div id="h.18vtahltxc2t" class="Ap4VC yMxPgf aP9Z7e"></div><h1 id="h.18vtahltxc2t_l" dir="ltr" class="zfr3Q duRjpb CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 6.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><div jscontroller="Ae65rd" jsaction="touchstart:UrsOsc; click:KjsqPd; focusout:QZoaZ; mouseover:y0pDld; mouseout:dq0hvd;fv1Rjc:jbFSOd;CrfLRd:SzACGe;" class="CjVfdc"><div class="PPhIP rviiZ" jsname="haAclf"><div role="presentation" class="U26fgb mUbCce fKz7Od LRAOtb Znu9nd M9Bg4d" jscontroller="mxS5xe" jsaction="click:cOuCgd; mousedown:UX7yZ; mouseup:lbsD7e; mouseenter:tfO1Yc; mouseleave:JywGue; focus:AHmuwe; blur:O22p3e; contextmenu:mg9Pef;" jsshadow aria-describedby="h.18vtahltxc2t_l" aria-label="Copy heading link" aria-disabled="false" data-tooltip="Copy heading link" aria-hidden="true" data-tooltip-position="top" data-tooltip-vertical-offset="12" data-tooltip-horizontal-offset="0"><a class="FKF6mc TpQm9d" href="#h.18vtahltxc2t" aria-label="Copy heading link" jsname="hiK3ld" role="button" aria-describedby="h.18vtahltxc2t_l"><div class="VTBa7b MbhUzd" jsname="ksKsZd"></div><span jsslot class="xjKiLb"><span class="Ce1Y1c" style="top: -11px"><svg class="OUGEr QdAdhf" width="22px" height="22px" viewBox="0 0 24 24" fill="currentColor" focusable="false"><path d="M0 0h24v24H0z" fill="none"/><path d="M3.9 12c0-1.71 1.39-3.1 3.1-3.1h4V7H7c-2.76 0-5 2.24-5 5s2.24 5 5 5h4v-1.9H7c-1.71 0-3.1-1.39-3.1-3.1zM8 13h8v-2H8v2zm9-6h-4v1.9h4c1.71 0 3.1 1.39 3.1 3.1s-1.39 3.1-3.1 3.1h-4V17h4c2.76 0 5-2.24 5-5s-2.24-5-5-5z"/></svg></span></span></a></div></div><span class="C9DxTc " style="">Model Error Compensator (MEC)</span></div></h1><div id="h.o4npkrfooew6" class="CobnVe yMxPgf aP9Z7e"></div><h2 id="h.o4npkrfooew6_l" dir="ltr" class="zfr3Q JYVBee CDt4Ke " style=""><div jscontroller="Ae65rd" jsaction="touchstart:UrsOsc; click:KjsqPd; focusout:QZoaZ; mouseover:y0pDld; mouseout:dq0hvd;fv1Rjc:jbFSOd;CrfLRd:SzACGe;" class="CjVfdc"><div class="PPhIP rviiZ" jsname="haAclf"><div role="presentation" class="U26fgb mUbCce fKz7Od LRAOtb Znu9nd M9Bg4d" jscontroller="mxS5xe" jsaction="click:cOuCgd; mousedown:UX7yZ;
106 mouseup:lbsD7e; mouseenter:tfO1Yc; mouseleave:JywGue; focus:AHmuwe; blur:O22p3e; contextmenu:mg9Pef;" jsshadow aria-describedby="h.o4npkrfooew6_l" aria-label="Copy heading link" aria-disabled="false" data-tooltip="Copy heading link" aria-hidden="true" data-tooltip-position="top" data-tooltip-vertical-offset="12" data-tooltip-horizontal-offset="0"><a class="FKF6mc TpQm9d" href="#h.o4npkrfooew6" aria-label="Copy heading link" jsname="hiK3ld" role="button" aria-describedby="h.o4npkrfooew6_l"><div class="VTBa7b MbhUzd" jsname="ksKsZd"></div><span jsslot class="xjKiLb"><span class="Ce1Y1c" style="top: -11px"><svg class="OUGEr QdAdhf" width="22px" height="22px" viewBox="0 0 24 24" fill="currentColor" focusable="false"><path d="M0 0h24v24H0z" fill="none"/><path d="M3.9 12c0-1.71 1.39-3.1 3.1-3.1h4V7H7c-2.76 0-5 2.24-5 5s2.24 5 5 5h4v-1.9H7c-1.71 0-3.1-1.39-3.1-3.1zM8 13h8v-2H8v2zm9-6h-4v1.9h4c1.71 0 3.1 1.39 3.1 3.1s-1.39 3.1-3.1 3.1h-4V17h4c2.76 0 5-2.24 5-5s-2.24-5-5-5z"/></svg></span></span></a></div></div><span class="C9DxTc " style="">Over View</span></div></h2><p dir="ltr" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">The </span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 700;">Model Error Compensator (MEC)</span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;"> is a compensation structure designed to enhance the robustness of existing control systems. The MEC suppresses the adverse effects of modeling errors and external disturbances on the inputâoutput characteristics of a controlled plant. By attaching the MEC to an existing control system, the compensated plant behaves closely to the nominal model used in the original controller design, thereby preserving the intended control performance.</span></p><p dir="ltr" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">A key advantage of the MEC is its simplicity and broad applicability. It does not require an inverse model of the plant â unlike disturbance observer-based approaches â making it straightforward to apply to a wide range of systems, including:</span></p><ul class="n8H08c UVNKR " style="list-style-type: square; margin-left: 0; margin-right: 0; padding: 0;"><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">Nonlinear systems</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">Systems with time delay</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;">
106<p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">Non-minimum phase systems</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">MIMO (multi-input multi-output) systems</span></p></li></ul><p dir="ltr" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">
106The MEC can also be combined with various control schemes such as model predictive control (MPC), PID control, and feedforward control, adding robustness without redesigning the existing controller.</span></p><p dir="ltr" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">The basic concept was first proposed in 2013 (</span><a class="XqQF9c" href="https://www.tandfonline.com/doi/abs/10.9746/jcmsi.6.267" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-weight: 400; text-decoration: underline;">Okajima et al., JCMSI, 2013</span></a><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">), and has since been extended to address polytopic uncertainties, non-minimum phase plants with parallel feedforward compensation, and practical applications including vehicle control and welfare robotics.</span></p><p dir="ltr" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">For a comprehensive overview, see: H. Okajima, "Model Error Compensator for Adding Robustness toward Existing Control," </span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-style: italic; font-weight: 400;">Preprints of the IFAC World Congress</span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">, pp. 3998â4005, 2023.</span><a class="XqQF9c" href="https://www.sciencedirect.com/science/article/pii/S2405896323019328" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;"> </span><span class="C9DxTc aw5Odc " style="font-family: Arial; font-weight: 400; text-decoration: underline;">(PDF, Open Access)</span></a></p><p dir="ltr" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-top: 12.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">Comprehensive Blog Article</span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;">:</span><a class="XqQF9c" href="https://blog.control-theory.com/entry/model-error-compensator-eng" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;"> </span><span class="C9DxTc aw5Odc " style="font-family: Arial; font-weight: 400; text-decoration: underline;">Model Error Compensator (MEC): Enhance the Robustness of Existing Control Systems with Simple Compensation</span></a></p><p dir="ltr" class="zfr3Q CDt4Ke " style=""><a class="XqQF9c" href="/jp/ã¢ãã«èª¤å·®æå¶è£åå¨" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-size: 12.0pt; text-decoration: underline; vertical-align: baseline;">JP(æ¥æ¬èªãã¼ã¸)</span></a></p></div></div></div></div></div></div></div></div></div></section><section id="h.3e7a219470b279ab_29" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-ibL1re Ft7HRd-AhqUyc-ibL1re JNdkSc SQVYQc L6cTce-purZT L6cTce-pSzOP"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"></div></div></div>
106<div class="hJDwNd-AhqUyc-OiUrBf Ft7HRd-AhqUyc-OiUrBf purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc yYI8W HQwdzb"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.3e7a219470b279ab_32" class="hJDwNd-AhqUyc-OiUrBf Ft7HRd-AhqUyc-OiUrBf jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd OWlOyc baZpAe"><div jscontroller="VYKRW" jsaction="rcuQ6b:rcuQ6b;"><div class="WIdY2d M1aSXe"><div jsname="WXxXjd" style="padding-top: 57.0175438596%"></div><iframe jsname="L5Fo6c" class="YMEQtf" sandbox="allow-scripts allow-popups allow-forms allow-same-origin allow-popups-to-escape-sandbox allow-downloads allow-modals allow-storage-access-by-user-activation" frameborder="0" aria-label="YouTube Video, ã¢ãã«èª¤å·®æå¶è£åå¨ï¼ææ¥å©ç¨ï¼" src="https://www.youtube.com/embed/fgriiuUAolY?embed_config=%7B%22enc%22:%22AXH1ezkaYIU6XoBtrTEwdoo9Jp8mKKHxPNVaNsOouKg9zIFnSFeA2E39vXIbEg7rkgLkbgAScAoBD7AUVND5IM-5RIQtd6ahRuAE0XM9IX7uFMe7Mb0LKvXehzD-vIyw1gYfjR7Vy3gbTwLRLCD7F_wouc8NjdW640K46SUKlf4RAsrj%22%7D&enablejsapi=1&errorlinks=1&origin=https://www.control-theory.com&vl=1" allowfullscreen></iframe></div></div></div></div></div></div><div class="oKdM2c ZZyype"><div id="h.3e7a219470b279ab_38" class="hJDwNd-AhqUyc-OiUrBf Ft7HRd-AhqUyc-OiUrBf jXK9ad D2fZ2 zu5uec wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd mGzaTb Depvyb baZpAe"><p dir="ltr" class="zfr3Q CDt4Ke " style=""><span class="C9DxTc " style="">Numerical Example</span></p><p dir="ltr" class="zfr3Q CDt4Ke " style=""><span class="C9DxTc " style="">Code: </span><a class="XqQF9c" href="https://jp.mathworks.com/matlabcentral/fileexchange/182944-model-error-compensator-mec-for-add-robustness-for-system" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-weight: 400; text-decoration: underline;">Model Error Compensator (MEC) for Add Robustness for System - File Exchange - MATLAB Central</span></a><span class="C9DxTc " style="color: #000000; font-family: Arial; font-weight: 400;"> </span></p></div></div></div></div></div></div></div><div class="hJDwNd-AhqUyc-ibL1re Ft7HRd-AhqUyc-ibL1re JNdkSc SQVYQc L6cTce-purZT L6cTce-pSzOP"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"></div></div></div></div></div></section><section id="h.74f3d12c60bc60cf_3" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.74f3d12c60bc60cf_0" class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd baZpAe"><div class="t3iYD"><img src="https://lh7-us.googleusercontent.com/sitesv-images-rt/AMxu72thPTztFh5QKGN7m4Joe8TRrO-Ek-prH1KIWDW1gKNLK0m_DbYyGAzSZ_JFkhJxISNU_5aLSZarUDNSgGC6GgqKACyJkWRNt3YUPVQL-nhtym7izy8llqFLjlRyx7emnu9uHv1vwxJDqWThSv7I2QNLK1qPRNanQWmdB3jboXwWQ0B06J3Cse7X3JWoSX6zRnx1PA5wFuMcthQvFINua_xxMz9e1CvuMNewpvlO=w1280" class="CENy8b" role="img" alt="Add-on Structure"></div></div></div></div></div></div></div></div><div class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.1f38c534cf2e387a_57" class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd baZpAe"><div class="t3iYD"><img src="https://lh7-us.googleusercontent.com/sitesv-images-rt/AMxu72suycc58iafOKGrgHj3Azfp8NeylIQ2EHBL4mNXtUnM9ZdavT-2A4W05GF5MHytvixKGYM2W4aGYQrbVGIyvF2O4mg9IaBZO1JIMGXhoOl6GSEJ_b5g2Mqi-VLrHaVX4Pa3ZBBqjsGpZnC9uLhJn9LiPcW6cq-U05CivMkNyizeuunHD77G4YzxLSAnuLqfrM9KKn4SemQebQS7gQ08KhDISVpJC-biwoc7AuHn5Wc=w1280" class="CENy8b" role="img" alt="Compensated System with Model Error Compensator"></div></div></div></div></div></div></div></div></div></div></section><section id="h.1f38c534cf2e387a_48" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.1f38c534cf2e387a_51" class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd baZpAe"><div class="t3iYD"><img src="https://lh7-us.googleusercontent.com/sitesv-images-rt/AMxu72vqwBN5dxqi_Q7dQO7WGZJoX-IslotNWfcKMYfXi93sFTtIMDKn-jDtuXw
106FFRqCaNMUrlVLzYmNqxwEFRo7_5H3wmBTuztpl8tr1_9bE_UHsxj0hn6lLiZ0t4KGBWTQeFhgD7KdBNnGqNA-FnpW2rOPAim-zDywvPgjPqS2snDWlyiyNIxjhq-2gTAnQmFX-eR_yvl2t0dlpYHN2kKabyp0HFBTUTsmW2g4qN-XfbU=w1280" class="CENy8b" role="img" alt="Structure of Model Error Compensator"></div></div></div></div></div></div></div></div><div class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.1f38c534cf2e387a_54" class="hJDwNd-AhqUyc-qWD73c Ft7HRd-AhqUyc-qWD73c jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd baZpAe"><div class="t3iYD"><img src="https://lh7-us.googleusercontent.com/sitesv-images-rt/AMxu72s2vX8BsK2U-5kiqMTEYVMSrkFKDHD9VjZ52icK7t6v8s4HfDnxiz45JpjkFcLmBiTXWBkOm0zM7n9gqq1_uuUFwODDLle4g4mH_KWAxA47jc8z7xARyZzgCmVltwY0AHNTDrwegQLPwOJ6T4ysqr0Hj5nfyeZkZG8F8NjpCUMKGPEKIsqNtiRwY9swAVjbAaOn-PTcPvt4lSl9XJzNMpjkP1lX61RPDFFyhg=w1280" class="CENy8b" role="img" alt="MEC for Nonlinear Systems"></div></div></div></div></div></div></div></div></div></div></section><section id="h.6b524c0d9056395a_0" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc yYI8W HQwdzb"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.6b524c0d9056395a_9" class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd OWlOyc baZpAe"><div jscontroller="VYKRW" jsaction="rcuQ6b:rcuQ6b;"><div class="WIdY2d M1aSXe"><div jsname="WXxXjd" style="padding-top: 55.6818181818%"></div><iframe jsname="L5Fo6c" class="YMEQtf" sandbox="allow-scripts allow-popups allow-forms allow-same-origin allow-popups-to-escape-sandbox allow-downloads allow-modals allow-storage-access-by-user-activation" frameborder="0" aria-label="YouTube Video, "Model Error Compensator" for adding robustness for existing systems. at IFAC World Congress" src="https://www.youtube.com/embed/UbEQ
106D22V20c?embed_config=%7B%22enc%22:%22AXH1ezmUHacshqv_H7skdJd8lIMU5N0qttw6gOs1eWaw0FG3Ow97Xhom8wzmSurRvoMng7SjOOmQR9YmhWGfe2eRDO6D6Viniabr1P_MCNttL9YziqJAQfF1LO4nvv3Txcd6BM3pIdDQxBLEENMJvaQvpt6r5-rzNGm6unHIPGM2apAj%22%7D&enablejsapi=1&errorlinks=1&origin=https://www.control-theory.com&vl=1" allowfullscreen></iframe></div></div></div></div></div></div><div class="oKdM2c ZZyype"><div id="h.3e7a219470b279ab_33" class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd jXK9ad D2fZ2 zu5uec wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd mGzaTb Depvyb baZpAe"><p dir="ltr" class="zfr3Q CDt4Ke " style=""><span class="C9DxTc " style="">YouTube (Model Error Compensator)</span></p></div></div></div></div></div></div></div></div></div></section><section id="h.1f38c534cf2e387a_74" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.1f38c534cf2e387a_77" class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd mGzaTb Depvyb baZpAe"><div id="h.6gtm6t3vl6zq" class="CobnVe yMxPgf aP9Z7e"></div><h2 id="h.6gtm6t3vl6zq_l" dir="ltr" class="zfr3Q JYVBee CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><div jscontroller="Ae65rd" jsaction="touchstart:UrsOsc; click:KjsqPd; focusout:QZoaZ; mouseover:y0pDld; mouseout:dq0hvd;fv1Rjc:jbFSOd;CrfLRd:SzACGe;" class="CjVfdc"><div class="PPhIP rviiZ" jsname="haAclf"><div role="presentation" class="U26fgb mUbCce fKz7Od LRAOtb Znu9nd M9Bg4d" jscontroller="mxS5xe" jsaction="click:cOuCgd; mousedown:UX7yZ; mouseup:lbsD7e; mouseenter:tfO1Yc; mouseleave:JywGue; focus:AHmuwe; blur:O22p3e; contextmenu:mg9Pef;" jsshadow aria-describedby="h.6gtm6t3vl6zq_l" aria-label="Copy heading link" aria-disabled="false" data-tooltip="Copy heading link" aria-hidden="true" data-tooltip-position="top" data-tooltip-vertical-offset="12" data-tooltip-horizontal-offset="0"><a class="FKF6mc TpQm9d" href="#h.6gtm6t3vl6zq" aria-label="Copy heading link" jsname="hiK3ld" role="button" aria-describedby="h.6gtm6t3vl6zq_l"><div class="VTBa7b MbhUzd" jsname="ksKsZd"></div><span jsslot class="xjKiLb"><span class="Ce1Y1c" style="top: -11px"><svg class="OUGEr QdAdhf" width="22px" height="22px" viewBox="0 0 24 24" fill="currentColor" focusable="false"><path d="M0 0h24v24H0z" fill="none"/><path d="M3.9 12c0-1.71 1.39-3.1 3.1-3.1h4V7H7c-2.76 0-5 2.24-5 5s2.24 5 5 5h4v-1.9H7c-1.71 0-3.1-1.39-3.1-3.1zM8 13h8v-2H8v2zm9-6h-4v1.9h4c1.71 0 3.1 1.39 3.1 3.1s-1.39 3.1-3.1 3.1h-4V17h4c2.76 0 5-2.24 5-5s-2.24-5-5-5z"/></svg></span></span></a></div></div><span class="C9DxTc " style="">MATLAB m-files for MEC</span></div></h2><ul class="n8H08c UVNKR " style="list-style-type: square; margin-left: 0; margin-right: 0; padding: 0;"><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 0.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #1f2328; font-family: Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">(MATLAB) Model error compensator (MEC) </span><a class="XqQF9c" href="https://github.com/Hiroshi-Okajima/Robust-control-MATLAB_MEC01" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-weight: 400; text-decoration: underline; vertical-align: baseline;">https://github.com/Hiroshi-Okajima/Robust-control-MATLAB_MEC01</span></a><span class="C9DxTc " style="font-size: 12.0pt; vertical-align: baseline;"> | R</span><span class="C9DxTc " style="font-size: 12.0pt; font-variant: normal; vertical-align: baseline;">elated papers </span><a class="XqQF9c" href="https://www.tandfonline.com/doi/full/10.1080/18824889.2021.1918392?src=recsys" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-size: 12.0pt; font-variant: normal; text-decoration: underline; vertical-align: baseline;">paper1</span></a><span class="C9DxTc " style="font-size: 12.0pt; font-variant: normal; vertical-align: baseline;"> </span><a class="XqQF9c" href="https://www.tandfonline.com/doi/pdf/10.1080/18824889.2022.2052628?needAccess=true" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-size: 12.0pt; font-variant: normal; text-decoration: underline; vertical-align: baseline;">paper2Â </span></a></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;">
106<p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 3.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #1f2328; font-family: Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">(MATLAB) MEC with sensor noise </span><a class="XqQF9c" href="https://github.com/Hiroshi-Okajima/MATLAB_MEC02_sensor_noise" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-weight: 400; text-decoration: underline; vertical-align: baseline;">https://github.com/Hiroshi-Okajima/MATLAB_MEC02_sensor_noise</span></a></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 3.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #1f2328; font-family: Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">(MATLAB) MEC with PFC </span><a class="XqQF9c" href="https://github.com/Hiroshi-Okajima/MATLAB_MEC03_withPFC" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-weight: 400; text-decoration: underline; vertical-align: baseline;">https://github.com/Hiroshi-Okajima/MATLAB_MEC03_withPFC</span></a></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 3.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #1f2328; font-family: Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">(MATLAB) MEC for nonlinear system </span><a class="XqQF9c" href="https://github.com/Hiroshi-Okajima/non_linear_control_MATLAB_MEC04" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-weight: 400; text-decoration: underline; vertical-align: baseline;">https://github.com/Hiroshi-Okajima/non_linear_control_MATLAB_MEC04</span></a></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 3.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #1f2328; font-family: Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">(MATLAB) Signal limitation filter </span><a class="XqQF9c" href="https://github.com/Hiroshi-Okajima/MATLAB_MEC05_signal_limitation_filter" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-weight: 400; text-decoration: underline; vertical-align: baseline;">https://github.com/Hiroshi-Okajima/MATLAB_MEC05_signal_limitation_filter</span></a></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 12.0pt; margin-left: 0.0pt; margin-top: 3.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #1f2328; font-family: Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">(MATLAB) Vehicle control </span><a class="XqQF9c" href="https://github.com/Hiroshi-Okajima/Vehicle_control_MEC05" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-weight: 400; text-decoration: underline; vertical-align: baseline;">https://github.com/Hiroshi-Okajima/Vehicle_control_MEC05</span></a></p></li><li dir="ltr" class="zfr3Q JYVBee TYR86d eD0Rn " style="margin-left: 15.0pt;"><div id="h.vdl3x6asngcf" class="CobnVe yMxPgf aP9Z7e"></div><h2 id="h.vdl3x6asngcf_l" dir="ltr" role="presentation" class="zfr3Q JYVBee CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none;
106 border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-indent: 0.0pt;"><div jscontroller="Ae65rd" jsaction="touchstart:UrsOsc; click:KjsqPd; focusout:QZoaZ; mouseover:y0pDld; mouseout:dq0hvd;fv1Rjc:jbFSOd;CrfLRd:SzACGe;" class="CjVfdc"><div class="PPhIP rviiZ" jsname="haAclf"><div role="presentation" class="U26fgb mUbCce fKz7Od LRAOtb Znu9nd M9Bg4d" jscontroller="mxS5xe" jsaction="click:cOuCgd; mousedown:UX7yZ; mouseup:lbsD7e; mouseenter:tfO1Yc; mouseleave:JywGue; focus:AHmuwe; blur:O22p3e; contextmenu:mg9Pef;" jsshadow aria-describedby="h.vdl3x6asngcf_l" aria-label="Copy heading link" aria-disabled="false" data-tooltip="Copy heading link" aria-hidden="true" data-tooltip-position="top" data-tooltip-vertical-offset="12" data-tooltip-horizontal-offset="0"><a class="FKF6mc TpQm9d" href="#h.vdl3x6asngcf" aria-label="Copy heading link" jsname="hiK3ld" role="button" aria-describedby="h.vdl3x6asngcf_l"><div class="VTBa7b MbhUzd" jsname="ksKsZd"></div><span jsslot class="xjKiLb"><span class="Ce1Y1c" style="top: -11px"><svg class="OUGEr QdAdhf" width="22px" height="22px" viewBox="0 0 24 24" fill="currentColor" focusable="false"><path d="M0 0h24v24H0z" fill="none"/><path d="M3.9 12c0-1.71 1.39-3.1 3.1-3.1h4V7H7c-2.76 0-5 2.24-5 5s2.24 5 5 5h4v-1.9H7c-1.71 0-3.1-1.39-3.1-3.1zM8 13h8v-2H8v2zm9-6h-4v1.9h4c1.71 0 3.1 1.39 3.1 3.1s-1.39 3.1-3.1 3.1h-4V17h4c2.76 0 5-2.24 5-5s-2.24-5-5-5z"/></svg></span></span></a></div></div><span class="C9DxTc " style="">Journal Paper (Research about MEC)</span></div></h2></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; vertical-align: baseline;">Ryuichiro Yoshida, Hiroshi Okajima and Takumi Sato, </span><a class="XqQF9c" href="https://www.tandfonline.com/doi/full/10.1080/18824889.2022.2052628" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc " style="color: #006580; font-family: Arial; font-size: 12.0pt; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Model error compensator design for continuous- and discrete-time non-minimum phase systems with polytopic-type uncertainties</span></a><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; vertical-align: baseline;">, SICE Journal of Control, Measurement, and System Integration, </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">Volume 15 Issue 2 pags 141-153</span><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; vertical-align: baseline;"> (2022)</span><span class="C9DxTc " style="color: #000000; font-size: 12.0pt; vertical-align: baseline;"> </span><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; vertical-align: baseline;">(T&F, Open Access)</span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">Â </span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">
106R. Yoshida, Y. Tanigawa, H. Okajima, and N. Matsunaga, </span><a class="XqQF9c" href="https://www.tandfonline.com/doi/full/10.1080/18824889.2021.1918392?src=" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">A Design Method of Model Error Compensator for Systems with Polytopic-type Uncertainty and Disturbances</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, </span><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; font-variant: normal; vertical-align: baseline;">SICE Journal of Control, Measurement, and System Integration, </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-variant: normal; font-weight: 400; vertical-align: baseline;">Volume 1</span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">4</span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-variant: normal; font-weight: 400; vertical-align: baseline;"> Issue 2 pags 1</span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">19</span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-variant: normal; font-weight: 400; vertical-align: baseline;">-1</span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-weight: 400; vertical-align: baseline;">27</span><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; font-variant: normal; vertical-align: baseline;"> (202</span><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; vertical-align: baseline;">1</span><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; font-variant: normal; vertical-align: baseline;">)</span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-variant: normal; font-weight: 400; vertical-align: baseline;"> </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">(T&F, Open Access)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">H. Okajima, Y. Nakabayashi and N. Matsunaga, </span><a class="XqQF9c" href="https://www.tandfonline.com/doi/abs/10.9746/jcmsi.13.1" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Signal-Limitation Filters to Simultaneously Satisfy Constraints of Velocity and Acceleration Signals</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, JCMSI, Volume 13 Issue 1 Pages 1-8 (2020)</span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;"> </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">(T&F, Open Access)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;">
106<p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">G. Ichimasa, H. Okajima, K. Okumura and N. Matsunagaï¼</span><a class="XqQF9c" href="https://www.tandfonline.com/doi/abs/10.9746/jcmsi.10.468" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Model Error Compensator with Parallel Feed-Forward Filter</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, SICE Journal of Control, Measurement, and System Integration, Vol.10, No.5, pp.468-475 (2017) </span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Â </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">(T&F, Open Access)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">A. T. Zengin, Y. Maruno, H. Okajima, N. Matsunagaï¼</span><a class="XqQF9c" href="https://www.tandfonline.com/doi/abs/10.9746/jcmsi.6.419" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Maneuverability Improvement of Front-Drive-Type Electric Wheelchair STAVi</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, SICE Journal of Control, Measurement, and System Integration, Vol.6, No.6, pp.419-426 (2013) </span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Â </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">(T&F, Open Access)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">
106H. Okajima, H. Umei, N. Matsunaga and T. Asaiï¼</span><a class="XqQF9c" href="https://www.tandfonline.com/doi/abs/10.9746/jcmsi.6.267" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">A Design Method of Compensator to Minimize Model Error</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, SICE Journal of Control, Measurement, and System Integration, Vol.6, No.4, pp.267-275 (2013) </span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Â </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">(T&F, Open Access)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">H. Okajima, N. Matsunaga and S. Kawajiï¼</span><a class="XqQF9c" href="https://www.tandfonline.com/doi/abs/10.9746/jcmsi.4.77" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Design of Dynamic Quantizers for 2-DOF IMC and Its Application to the Temperature Control of a Heat Plate</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, SICE Journal of Control Measurement and System Integration, Vol.4, No.1, pp.77-82 (2011) </span><span class="C9DxTc " style="color: #000000; font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Â </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">(T&F, Open Access)</span></p></li></ul><div id="h.4d7kssrczpyx" class="CobnVe yMxPgf aP9Z7e"></div><h2 id="h.4d7kssrczpyx_l" dir="ltr" class="zfr3Q JYVBee CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.44; margin-bottom: 24.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt;"><div jscontroller="Ae65rd" jsaction="touchstart:UrsOsc; click:KjsqPd; focusout:QZoaZ; mouseover:y0pDld; mouseout:dq0hvd;fv1Rjc:jbFSOd;CrfLRd:SzACGe;" class="CjVfdc"><div class="PPhIP rviiZ" jsname="haAclf"><div role="presentation" class="U26fgb mUbCce fKz7Od LRAOtb Znu9nd M9Bg4d" jscontroller="mxS5xe" jsaction="click:cOuCgd; mousedown:UX7yZ; mouseup:lbsD7e; mouseenter:tfO1Yc; mouseleave:JywGue; focus:AHmuwe; blur:O22p3e; contextmenu:mg9Pef;" jsshadow aria-describedby="h.4d7kssrczpyx_l" aria-label="Copy heading link" aria-disabled="false" data-tooltip="Copy heading link" aria-hidden="true" data-tooltip-position="top" data-tooltip-vertical-offset="12" data-tooltip-horizontal-offset="0">
106<a class="FKF6mc TpQm9d" href="#h.4d7kssrczpyx" aria-label="Copy heading link" jsname="hiK3ld" role="button" aria-describedby="h.4d7kssrczpyx_l"><div class="VTBa7b MbhUzd" jsname="ksKsZd"></div><span jsslot class="xjKiLb"><span class="Ce1Y1c" style="top: -11px"><svg class="OUGEr QdAdhf" width="22px" height="22px" viewBox="0 0 24 24" fill="currentColor" focusable="false"><path d="M0 0h24v24H0z" fill="none"/><path d="M3.9 12c0-1.71 1.39-3.1 3.1-3.1h4V7H7c-2.76 0-5 2.24-5 5s2.24 5 5 5h4v-1.9H7c-1.71 0-3.1-1.39-3.1-3.1zM8 13h8v-2H8v2zm9-6h-4v1.9h4c1.71 0 3.1 1.39 3.1 3.1s-1.39 3.1-3.1 3.1h-4V17h4c2.76 0 5-2.24 5-5s-2.24-5-5-5z"/></svg></span></span></a></div></div><span class="Ztu2ge C9DxTc " style="vertical-align: baseline;">International conference paper</span></div></h2><ul class="n8H08c UVNKR " style="list-style-type: square; margin-left: 0; margin-right: 0; padding: 0;"><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; font-variant: normal; vertical-align: baseline;">H. Okajima, </span><a class="XqQF9c" href="https://www.sciencedirect.com/science/article/pii/S2405896323019328" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-size: 12.0pt; font-variant: normal; text-decoration: underline; vertical-align: baseline;">Model Error Compensator for adding Robustness toward Existing Control</span></a><span class="C9DxTc " style="color: #111111; font-size: 12.0pt; font-variant: normal; vertical-align: baseline;">, Preprints of the IFAC World Congress, pp. 3998 - 4005 (2023)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">R. Yoshida, Y. Tanigawa, H. Okajima and N. Matsunaga: </span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/9240432" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">A Design Method of Model Error Compensator using Meta-Heuristics and LMIs</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, Proceedings of the SICE Annual Conference 2020 pp. 1150-1155 (2020)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Nobutomo Matsunaga, Naufal Bayu Fauzan, Hiroshi Okajima and Gou Koutaki, </span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/8765016" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Archive Method of Stone Wall in Kumamoto Castle Lifted by Small CMG Crane using Model Error Compensator</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">
106, 2019 12th Asian Control Conference , 18849231 (2019)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Yuta Nakabayashi, Hiroshi Okajima, Nobutomo Matsunaga, </span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/8616339" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Inter-Vehicle Distance Stabilization in Adaptive Cruise Control Using Signal Limitation Filter</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">,</span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-variant: normal; font-weight: 400; vertical-align: baseline;"> </span><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Proceeding of 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp.1985-1990 (2018)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">S. Sakamoto, T. Tanaka, H. Okajima and N. Matsunagaï¼</span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/8204335" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Maneuverability evaluation of skid steer welfare vehicle for robust assistance control with model error compensator</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, Proceedings of ICCAS 2017 (2017)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">N. Matsunaga, H. Okajima and Y. Yamamotoï¼</span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/8204362" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Robust variable stiffness control of McKibben type pneumatic artificial muscle arm by using multiple model error compensators</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, Proceedings of ICCAS 2017 (2017)Â </span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;">
106<p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Y. Nakabayashi, H. Okajima and N. Matsunagaï¼</span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/8105481" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Signal limitation filter to satisfy velocity and acceleration constraints for arbitrary input signals</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, Proceedings of the SICE Annual Conference 2017</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">T. Tanaka, H. Okajima and N. Matsunagaï¼</span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/7832329" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Experiment of robust driving assistance control for skid steer welfare vehicle using model error compensator</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, Proceedings of ICCAS 2016 (2016) </span><span class="C9DxTc " style="color: #ff9900; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Outstanding Paper Award</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">G. Ichimasa, K. Okumura, H. Okajima and N. Matsunagaï¼</span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/7749092" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Extended structure of MEC for thermal process</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, Proceedings of the SICE Annual Conference 2016, pp.1593-1598 (2016)</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;">
106<p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">T.Sugano, H.Okajima and N.Matsunagaï¼</span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/7392108" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Robust and precise platoon driving control of welfare vehicles along wheel track by using model error compensator</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, IECON2015, YF-001503</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">T. Sugano, Y. Dan, H. Okajima, N. Matsunaga and Z. Huï¼</span><a class="XqQF9c" href="https://folk.ntnu.no/skoge/prost/proceedings/adconip-2014/pdf/SUBS41TO60/0054/0054_FI.pdf" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Indoor Platoon Driving of Electric Wheelchair with Model Error Compensator along Wheel Track of Preceding Vehicle</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, The 5th International Symposium on Advanced Control of Industrial Processes, 2014.5</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">Y. Dan, H. Okajima, N. Matsunaga, Z. Hu and N. Nakamuraï¼Experiment of Indoor Platoon Driving using Electric Wheelchair STAVi Controlled by Modeling Error Compensation System, ICT-PAMM Workshop on Mobility Assistance and Service Robotics, p26-31, 2013.11.</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">
106Y. Maruno, Y. Dan, A. T. Zengin, H. Okajima and N. Matsunagaï¼</span><a class="XqQF9c" href="https://www.sciencedirect.com/science/article/pii/S1474667016384798" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">Maneuverability Analysis of Front Drive Type Personal Vehicle STAVi using Modeling Error Compensation System</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, 7th IFAC Symposium on Advanced in Automative Control, 2013.9.</span></p></li><li dir="ltr" class="zfr3Q TYR86d eD0Rn " style="margin-left: 15.0pt;"><p dir="ltr" role="presentation" class="zfr3Q CDt4Ke " style="background-color: transparent; border-bottom: none; border-left: none; border-right: none; border-top: none; line-height: 1.38; margin-bottom: 24.0pt; margin-left: 0.0pt; margin-right: 0.0pt; margin-top: 24.0pt; padding-bottom: 0.0pt; padding-left: 0.0pt; padding-right: 0.0pt; padding-top: 0.0pt; text-align: left; text-indent: 0.0pt;"><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">H. Umei, H. Okajima, N. Matsunaga and T. Asaiï¼</span><a class="XqQF9c" href="https://ieeexplore.ieee.org/document/6060350" target="_blank" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-family: Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: underline; vertical-align: baseline;">A design method of compensator to minimize model error</span></a><span class="C9DxTc " style="color: #111111; font-family: Meiryo, Arial; font-size: 12.0pt; font-style: normal; font-variant: normal; font-weight: 400; text-decoration: none; vertical-align: baseline;">, SICE Annual Conference 2011, 2011.9. </span></p></li></ul></div></div></div></div></div></div></div></div></div></section><section id="h.1f38c534cf2e387a_78" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.1f38c534cf2e387a_81" class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd mGzaTb Depvyb baZpAe"><p dir="ltr" class="zfr3Q CDt4Ke " style=""><a class="XqQF9c" href="/jp/ã¢ãã«èª¤å·®æå¶è£åå¨" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-size: 12.0pt; font-variant: normal; text-decoration: underline; vertical-align: baseline;">Japanese(MEC)</span></a></p></div></div></div></div></div></div></div></div></div></section><section id="h.1f38c534cf2e387a_82" class="yaqOZd"><div class="IFuOkc"></div><div class="mYVXT"><div class="LS81yb VICjCf j5pSsc db35Fc" tabindex="-1"><div class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd purZT-AhqUyc-II5mzb ZcASvf-AhqUyc-II5mzb pSzOP-AhqUyc-qWD73c Ktthjf-AhqUyc-qWD73c JNdkSc SQVYQc"><div class="JNdkSc-SmKAyb LkDMRd"><div class="" jscontroller="sGwD4d" jsaction="zXBUYb:zTPCnb;zQF9Uc:Qxe3nd;" jsname="F57UId"><div class="oKdM2c ZZyype Kzv0Me"><div id="h.1f38c534cf2e387a_85" class="hJDwNd-AhqUyc-uQSCkd Ft7HRd-AhqUyc-uQSCkd jXK9ad D2fZ2 zu5uec OjCsFc dmUFtb wHaque g5GTcb"><div class="jXK9ad-SmKAyb"><div class="tyJCtd mGzaTb Depvyb baZpAe"><p dir="ltr" class="zfr3Q CDt4Ke " style="text-align: right;"><a class="XqQF9c" href="/en" style="color: inherit; text-decoration: none;"><span class="C9DxTc aw5Odc " style="font-size: 12.0pt; font-variant: normal; text-decoration: underline; vertical-align: baseline;">Home</span></a></p></div></div></div></div></div></div></div></div></div></section></div><div class="Xpil1b xgQ6eb"></div><div jscontroller="j1RDQb" jsaction="rcuQ6b:rcuQ6b;MxH79b:JdcaS;FaOgy:XuHpsb;" class="dZA9kd ynRLnc" data-last-updated-at-time="1773066720664" data-is-preview="false"><div role="button" class="U26fgb JRtysb WzwrXb I12f0b K2mXPb zXBiaf ynRLnc" jscontroller="iSvg6e" jsaction="click:cOuCgd; mousedown:UX7yZ;
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